CN212861677U - Wheel-crawler type variant wheel mechanism - Google Patents
Wheel-crawler type variant wheel mechanism Download PDFInfo
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- CN212861677U CN212861677U CN202020935760.2U CN202020935760U CN212861677U CN 212861677 U CN212861677 U CN 212861677U CN 202020935760 U CN202020935760 U CN 202020935760U CN 212861677 U CN212861677 U CN 212861677U
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Abstract
The utility model relates to a vehicle running gear technical field especially relates to wheeled-crawler-type variant wheel mechanism, it includes mechanism deformation device, wheeled drive arrangement and crawler-type drive arrangement, mechanism deformation device includes the worm, the crank worm wheel, the connecting rod, the piston cylinder, the rocker, wheel week support piece and triangle fixed plate, wheeled drive arrangement is including the center pin that passes two triangle fixed plates and install the epaxial electromagnetic clutch in center, crawler-type drive arrangement includes a first gear, three second gear and three third gear, first gear is installed in on the center pin, and first gear, second gear and third gear mesh in proper order, the shaft and the crank and the connecting rod sharing of second gear, the shaft and the piston cylinder and the connecting rod sharing of third gear. The device provided by the utility model simple structure, it is light, one set of mechanism of wheeled and two kinds of forms traveling system of crawler-type sharing, and can carry out switching between wheeled and the two kinds of forms of crawler-type in the marching.
Description
Technical Field
The utility model relates to a vehicle running gear technical field especially relates to wheeled-crawler-type variant wheel mechanism.
Background
The running mechanism commonly used by the current vehicle mainly has two types: wheeled and tracked. The wheel type structure has the advantages of high speed, good maneuverability, convenient control and the like, but is not suitable for obstacle crossing and has poor trafficability; the crawler belt structure has a large ground contact area, so that the obstacle crossing performance is good, the crawler belt structure is suitable for various complex terrains, and the crawler belt structure has the defects of low speed, heavy appearance and inflexible movement.
Some special vehicles, such as military off-road vehicles, rescue vehicles, engineering vehicles and the like, are expected to run on a hard road surface in a wheel type manner and quickly maneuver, and run on a soft road surface in a complex terrain in a track manner, so that the off-road performance is good, which is a difficult problem for the existing vehicle running mechanism. Some engineering vehicles are provided with two traveling mechanisms, and the engineering vehicles are stopped and replaced when the engineering vehicles travel to different road surfaces; the mode has the advantages that the replacement time is long, two traveling mechanisms are required to be carried along with a vehicle at ordinary times, and the load of the vehicle is increased.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a simple structure is provided, it is light, one set of mechanism of wheeled and two kinds of forms traveling system of crawler-type sharing, and can carry out the wheeled-crawler-type variant wheel mechanism that switches between wheeled and the two kinds of forms of crawler-type in the marching.
The utility model discloses a realize through following technical scheme:
the wheel-crawler type variant wheel mechanism comprises a mechanism deformation device, a wheel type driving device and a crawler type driving device, wherein the mechanism deformation device comprises a worm, a crank worm wheel, a connecting rod, a piston cylinder, a rocker, wheel periphery supporting pieces and triangular fixing plates, the mechanism deformation device comprises two groups of three cranks, the two groups of three cranks are respectively distributed on the inner side and the outer side of a wheel, the two triangular fixing plates are fixedly connected through three triangular fixing plate connecting shafts, the number of the cranks of the crank worm wheel is three, the worm is matched with the crank worm wheel, the three cranks of the crank worm wheel are respectively hinged with one end of the corresponding connecting rod, the end part of a piston rod of the piston cylinder is fixedly arranged on the corresponding triangular fixing plate, each group of the wheel periphery supporting pieces is composed of six parts, one end of each group of the wheel periphery supporting pieces, the crawler-type driving device comprises a central shaft penetrating through two triangular fixing plates and an electromagnetic clutch mounted on the central shaft, the crawler-type driving device comprises a first gear, three second gears and three third gears, the first gear is mounted on the central shaft, the first gear, the second gears and the third gears are sequentially meshed, a wheel shaft of the second gear is a shaft shared by a crank and a connecting rod of a corresponding crank worm wheel, and a wheel shaft of the third gear is a shaft shared by a corresponding piston cylinder and a corresponding connecting rod.
Further, the worm is driven by a motor fixedly arranged on the triangular fixing plate.
Furthermore, a bearing is arranged between the triangular fixing plate and the central shaft.
Further, a plurality of rollers are mounted on the wheel periphery supporting member.
Beneficial effects of the utility model
The utility model discloses a wheeled-crawler-type variant wheel mechanism, compared with the prior art, has following beneficial effect:
1. the wheel type and crawler type devices are a set of devices, the position relation of the driven components is driven to change through the mechanism deformation device, the components are driven to be combined into different shapes of a circle or a triangle, the switching between the wheel type and crawler type modes is completed, the walking device is suitable for walking on various terrains, and the maneuverability and the off-road property are realized;
2. the weight is reduced by using one set of travelling mechanism, and the conversion between a wheel type mode and a crawler type mode can be realized only by controlling the positive and negative rotation of the motor during the travelling of the vehicle, so that the conversion is convenient and fast.
3. Both forms of power drive source are half shafts of the vehicle.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a schematic view of a wheeled state structure;
FIG. 4 is a schematic view of a track-type phase architecture;
in the figure, 1, a motor, 2, a worm, 3, a crank worm wheel, 4, a connecting rod, 5, a piston rod, 6, a piston cylinder, 7, a rocker, 8, a wheel periphery supporting piece, 9, a central shaft, 10, a triangle fixing plate connecting shaft, 11, a first gear, 12, a second gear, 13, a third gear, 14, an electromagnetic clutch, 15, a roller, 16, a triangle fixing plate and 17 are annular rubber belts.
Detailed Description
The wheel-crawler type variant wheel mechanism comprises a mechanism deformation device, a wheel type driving device and a crawler type driving device, wherein the mechanism deformation device comprises a worm 2, a crank worm wheel 3, a connecting rod 4, a piston cylinder 6, a rocker 7, a wheel periphery supporting piece 8 and a triangular fixing plate 16, the mechanism deformation device comprises two groups which are respectively distributed on the inner side and the outer side of a wheel, the two triangular fixing plates are fixedly connected through three triangular fixing plate connecting shafts 10, and partial components of the mechanism deformation device are divided into two groups which are symmetrically distributed, so that the stress is uniform.
The crank of the crank worm wheel is three, the worm is matched with the crank worm wheel, the three cranks of the crank worm wheel are respectively hinged with one end of a corresponding connecting rod, the end part of a piston rod 5 of the piston cylinder is fixedly arranged on a corresponding triangular fixing plate, one end of each group of wheel periphery supporting pieces is coaxially hinged with the other end of the corresponding connecting rod and the piston cylinder, the middle part of each wheel periphery supporting piece is hinged with a rocker, the other end of the rocker is fixedly arranged on a corresponding triangular fixing plate connecting shaft, the worm is driven by a motor to rotate for a certain angle, the worm drives the crank worm wheel to rotate for a certain angle, the three cranks of the crank worm wheel respectively drive each group of connecting rods to move, the rocker and the wheel periphery supporting pieces move to the designated positions under the respective restraint, and the six wheel periphery supporting pieces are combined into a similar circle or a similar triangle to realize wheel-crawler type deformation.
The wheel type driving device comprises a central shaft 9 penetrating through two triangular fixing plates and an electromagnetic clutch 14 installed on the central shaft, the central shaft is a vehicle wheel shaft, a bearing is installed between the two triangular fixing plates and the central shaft, when the electromagnetic clutch is closed, the connecting central shaft can be connected with the two triangular fixing plates, so that the triangular fixing plates rotate along with the shaft, the two triangular fixing plates are fixedly connected through the three triangular fixing plate connecting shafts, other components fixed on the two triangular fixing plates and the fixing plate connecting shafts also rotate together, at the moment, the mechanism deformation device is in a wheel type mode and rotates in an integral wheel type mode, namely, the vehicle wheel type rolling walking state.
The crawler-type driving device comprises a first gear 11, three second gears 12 and three third gears 13, wherein the first gear is mounted on a central shaft, the first gear, the second gear and the third gears are meshed in sequence, the wheel axle of the second gear is a shaft shared by a crank and a connecting rod of a corresponding crank worm gear, and the wheel axle of the third gear is a shaft shared by a corresponding piston cylinder and a corresponding connecting rod. The electromagnetic clutch is separated, so that the central shaft is separated from the two triangular fixing plates, the two triangular fixing plates are gradually static, and the mechanism deformation device can be changed into a triangular-like form.
Further, the worm is driven by a motor 1 fixedly mounted on the triangular fixing plate.
Further, a bearing (not shown) is installed between the triangular fixing plate and the central shaft.
Furthermore, a plurality of rollers 15 are arranged on the wheel periphery supporting piece, so that the walking is convenient during wheel type driving.
Specifically, when the track-wheel type is deformed: the motor starts positive rotation, the worm is driven to rotate for a certain angle, the worm drives the crank worm wheel to rotate for a certain angle, three cranks of the crank worm wheel respectively drive the groups of connecting rods to move, the piston rod, the rocker and the wheel periphery supporting piece are driven to move to the appointed position under respective restraint, and the six wheel periphery supporting pieces are combined into a similar circle, namely a wheel type.
Wheel type traveling: when the electromagnetic clutch is closed, the central shaft is fixedly connected with the two triangular fixing plates into a whole, and the central shaft rotates to drive the electromagnetic clutch to rotate so as to drive the two triangular fixing plates and all components to rotate; when the wheel rotates to the wheel week support piece and keeps away from the one end contact ground of piston cylinder, receive the ground force effect, wheel week support piece is the initiative piece, and at this moment, the biography power route is: the wheel periphery supporting piece, the piston cylinder, the connecting rod, the crank worm wheel and the worm, the worm and gear mechanism is self-locked, and the mechanism is prevented from deforming into a triangle;
wheel-track type deformation: the motor is started to rotate reversely, the worm is driven to rotate reversely for a certain angle, the worm drives the crank worm wheel to rotate reversely for a certain angle, three cranks of the crank worm wheel respectively drive the groups of connecting rods to move, the piston rod, the rocker and the wheel periphery supporting piece are driven to move under respective restraint, the cranks of the crank worm wheel, the piston rod and the piston cylinder are in a straight line, and at the moment, six wheel periphery supporting pieces are combined into a triangle.
Crawler-type advancing: the electromagnetic clutch is separated, the central shaft is separated from the two triangular fixing plates, the triangular fixing plates are supported by the bearing on the central shaft and are gradually static, the central shaft rotates to continuously drive the first gear, the second gear and the third gear to rotate as the mechanism deformation device is converted into a triangular-like form, the teeth of the third gear are meshed with the inner ring teeth of the annular rubber belt 17 arranged on the periphery of the mechanism to drive the annular rubber belt, and the triangular crawler type running state of the vehicle is obtained at the moment.
To sum up, the utility model discloses a wheeled-crawler-type variant wheel mechanism of protection, simple structure, it is light, wheeled and one set of mechanism of two kinds of forms traveling system sharing of crawler-type, and can carry out in the marching and switch between wheeled and the two kinds of forms of crawler-type.
Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The wheel-crawler type variant wheel mechanism is characterized by comprising a mechanism deformation device, a wheel type driving device and a crawler type driving device, wherein the mechanism deformation device comprises a worm, a crank worm wheel, a connecting rod, a piston cylinder, a rocker, wheel periphery supporting pieces and triangular fixing plates, the mechanism deformation device comprises two groups of mechanisms which are respectively distributed on the inner side and the outer side of a wheel, the two triangular fixing plates are fixedly connected through three triangular fixing plate connecting shafts, the number of cranks of the crank worm wheel is three, the worm is matched with the crank worm wheel, the three cranks of the crank worm wheel are respectively hinged with one end of the corresponding connecting rod, the end parts of piston rods of the piston cylinders are fixedly arranged on the corresponding triangular fixing plates, each group of the wheel periphery supporting pieces comprises six components, one end of each group of the wheel periphery supporting pieces is coaxially hinged with the other end of the corresponding connecting rod and, the crawler-type driving device comprises a central shaft penetrating through two triangular fixing plates and an electromagnetic clutch mounted on the central shaft, the crawler-type driving device comprises a first gear, three second gears and three third gears, the first gear is mounted on the central shaft, the first gear, the second gears and the third gears are sequentially meshed, a wheel shaft of the second gear is a shaft shared by a crank and a connecting rod of a corresponding crank worm wheel, and a wheel shaft of the third gear is a shaft shared by a corresponding piston cylinder and a corresponding connecting rod.
2. The wheel-track type variety wheel mechanism of claim 1, wherein the worm is driven by a motor fixedly mounted on a triangular fixed plate.
3. The wheel-track type variety wheel mechanism of claim 1, wherein a bearing is mounted between the triangular fixed plate and the central shaft.
4. The wheel-track variant wheel mechanism of claim 1, wherein a plurality of rollers are mounted on the crown support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020935760.2U CN212861677U (en) | 2020-05-28 | 2020-05-28 | Wheel-crawler type variant wheel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020935760.2U CN212861677U (en) | 2020-05-28 | 2020-05-28 | Wheel-crawler type variant wheel mechanism |
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| CN212861677U true CN212861677U (en) | 2021-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020935760.2U Active CN212861677U (en) | 2020-05-28 | 2020-05-28 | Wheel-crawler type variant wheel mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114506182A (en) * | 2022-01-26 | 2022-05-17 | 南京航空航天大学 | Deformable wheel for field detection vehicle |
| CN115402036A (en) * | 2022-08-26 | 2022-11-29 | 江苏大学 | Multi-response strain structure wheel based on 4D printing technology and vehicle |
-
2020
- 2020-05-28 CN CN202020935760.2U patent/CN212861677U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114506182A (en) * | 2022-01-26 | 2022-05-17 | 南京航空航天大学 | Deformable wheel for field detection vehicle |
| CN115402036A (en) * | 2022-08-26 | 2022-11-29 | 江苏大学 | Multi-response strain structure wheel based on 4D printing technology and vehicle |
| WO2024041271A1 (en) * | 2022-08-26 | 2024-02-29 | 江苏大学 | 4d printing technology-based multi-response variable-structure wheel, and vehicle |
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